#include <stdio.h>
#include <math.h>

#ifdef ADEPT_PKG
#include <Aria.h>
#else

#include <Aria/Aria.h>

#endif

#include "ros/ros.h"
#include "geometry_msgs/Twist.h"
#include "geometry_msgs/Pose.h"
#include "geometry_msgs/PoseStamped.h"
#include <sensor_msgs/PointCloud.h>  //for sonar data
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/point_cloud_conversion.h> // can optionally publish sonar as new type pointcloud2
#include "nav_msgs/Odometry.h"
#include "rosaria/BumperState.h"
#include "tf/tf.h"
#include "tf/transform_listener.h"  //for tf::getPrefixParam
#include <tf/transform_broadcaster.h>
#include "tf/transform_datatypes.h"
#include <dynamic_reconfigure/server.h>
#include <rosaria/RosAriaConfig.h>
#include "std_msgs/Float64.h"
#include "std_msgs/Float32.h"
#include "std_msgs/Int8.h"
#include "std_msgs/Bool.h"
#include "std_srvs/Empty.h"

#include "LaserPublisher.h"

#include <sstream>


/** @brief Node that interfaces between ROS and mobile robot base features via ARIA library. 

    RosAriaNode will use ARIA to connect to a robot controller (configure via
    ~port parameter), either direct serial connection or over the network.  It 
    runs ARIA's robot communications cycle in a background thread, and
    as part of that cycle (a sensor interpretation task which calls RosAriaNode::publish()),
    it  publishes various topics with newly received robot
    data.  It also sends velocity commands to the robot when received in the
    cmd_vel topic, and handles dynamic_reconfigure and Service requests.

    For more information about ARIA see
    http://robots.mobilerobots.com/wiki/Aria.

    RosAria uses the roscpp client library, see http://www.ros.org/wiki/roscpp for
    information, tutorials and documentation.
*/
class RosAriaNode
{
public:
    RosAriaNode(ros::NodeHandle n);

    virtual ~RosAriaNode();

public:
    int Setup();

    void cmdvel_cb(const geometry_msgs::TwistConstPtr &);

    void cmdvel_watchdog(const ros::TimerEvent &event);

    //void cmd_enable_motors_cb();
    //void cmd_disable_motors_cb();
    void spin();

    void publish();

    void sonarConnectCb();

    void dynamic_reconfigureCB(rosaria::RosAriaConfig &config, uint32_t level);

    void readParameters();

protected:
    ros::NodeHandle n;
    ros::Publisher pose_pub;
    ros::Publisher bumpers_pub;
    ros::Publisher sonar_pub;
    ros::Publisher sonar_pointcloud2_pub;
    ros::Publisher voltage_pub;

    ros::Publisher recharge_state_pub;
    std_msgs::Int8 recharge_state;

    ros::Publisher state_of_charge_pub;

    ros::Publisher motors_state_pub;
    std_msgs::Bool motors_state;
    bool published_motors_state;

    ros::Subscriber cmdvel_sub;

    ros::ServiceServer enable_srv;
    ros::ServiceServer disable_srv;

    bool enable_motors_cb(std_srvs::Empty::Request &request, std_srvs::Empty::Response &response);

    bool disable_motors_cb(std_srvs::Empty::Request &request, std_srvs::Empty::Response &response);

    ros::Time veltime;
    ros::Timer cmdvel_watchdog_timer;
    ros::Duration cmdvel_timeout;

    std::string serial_port;
    int serial_baud;

    ArRobotConnector *conn;
    ArLaserConnector *laserConnector;
    ArRobot *robot;
    nav_msgs::Odometry position;
    rosaria::BumperState bumpers;
    ArPose pos;
    ArFunctorC<RosAriaNode> myPublishCB;
    //ArRobot::ChargeState batteryCharge;

    //for odom->base_link transform
    tf::TransformBroadcaster odom_broadcaster;
    geometry_msgs::TransformStamped odom_trans;

    std::string frame_id_odom;
    std::string frame_id_base_link;
    std::string frame_id_bumper;
    std::string frame_id_sonar;

    // flag indicating whether sonar was enabled or disabled on the robot
    bool sonar_enabled;

    // enable and publish sonar topics. set to true when first subscriber connects, set to false when last subscriber disconnects. 
    bool publish_sonar;
    bool publish_sonar_pointcloud2;

    // Debug Aria
    bool debug_aria;
    std::string aria_log_filename;

    // Robot Calibration Parameters (see readParameters() function)
    int TicksMM, DriftFactor, RevCount;  //If TicksMM or RevCount are <0, don't use. If DriftFactor is -99999, don't use (DriftFactor could be 0 or negative).

    // dynamic_reconfigure
    dynamic_reconfigure::Server<rosaria::RosAriaConfig> *dynamic_reconfigure_server;

    // whether to publish aria lasers
    bool publish_aria_lasers;
};

void RosAriaNode::readParameters()
{
    // Robot Parameters. If a parameter was given and is nonzero, set it now.
    // Otherwise, get default value for this robot (from getOrigRobotConfig()).
    // Parameter values are stored in member variables for possible later use by the user with dynamic reconfigure.
    robot->lock();
    ros::NodeHandle n_("~");
    if (n_.getParam("TicksMM", TicksMM) && TicksMM > 0)
    {
        ROS_INFO("Setting robot TicksMM from ROS Parameter: %d", TicksMM);
        robot->comInt(93, TicksMM);
    } else
    {
        TicksMM = robot->getOrigRobotConfig()->getTicksMM();
        ROS_INFO("This robot's TicksMM parameter: %d", TicksMM);
        //n_.setParam( "TicksMM", TicksMM);
    }

    if (n_.getParam("DriftFactor", DriftFactor) && DriftFactor != -99999)
    {
        ROS_INFO("Setting robot DriftFactor from ROS Parameter: %d", DriftFactor);
        robot->comInt(89, DriftFactor);
    } else
    {
        DriftFactor = robot->getOrigRobotConfig()->getDriftFactor();
        ROS_INFO("This robot's DriftFactor parameter: %d", DriftFactor);
        //n_.setParam( "DriftFactor", DriftFactor);
    }

    if (n_.getParam("RevCount", RevCount) && RevCount > 0)
    {
        ROS_INFO("Setting robot RevCount from ROS Parameter: %d", RevCount);
        robot->comInt(88, RevCount);
    } else
    {
        RevCount = robot->getOrigRobotConfig()->getRevCount();
        ROS_INFO("This robot's RevCount parameter: %d", RevCount);
        //n_.setParam( "RevCount", RevCount);
    }
    robot->unlock();
}

void RosAriaNode::dynamic_reconfigureCB(rosaria::RosAriaConfig &config, uint32_t level)
{
    //
    // Odometry Settings
    //
    robot->lock();
    if (TicksMM != config.TicksMM && config.TicksMM > 0)
    {
        ROS_INFO("Setting TicksMM from Dynamic Reconfigure: %d -> %d ", TicksMM, config.TicksMM);
        TicksMM = config.TicksMM;
        robot->comInt(93, TicksMM);
    }

    if (DriftFactor != config.DriftFactor && config.DriftFactor != -99999)
    {
        ROS_INFO("Setting DriftFactor from Dynamic Reconfigure: %d -> %d ", DriftFactor, config.DriftFactor);
        DriftFactor = config.DriftFactor;
        robot->comInt(89, DriftFactor);
    }

    if (RevCount != config.RevCount && config.RevCount > 0)
    {
        ROS_INFO("Setting RevCount from Dynamic Reconfigure: %d -> %d ", RevCount, config.RevCount);
        RevCount = config.RevCount;
        robot->comInt(88, RevCount);
    }

    //
    // Acceleration Parameters
    //
    int value;
    value = config.trans_accel * 1000;
    if (value != robot->getTransAccel() && value > 0)
    {
        ROS_INFO("Setting TransAccel from Dynamic Reconfigure: %d", value);
        robot->setTransAccel(value);
    }

    value = config.trans_decel * 1000;
    if (value != robot->getTransDecel() && value > 0)
    {
        ROS_INFO("Setting TransDecel from Dynamic Reconfigure: %d", value);
        robot->setTransDecel(value);
    }

    value = config.lat_accel * 1000;
    if (value != robot->getLatAccel() && value > 0)
    {
        ROS_INFO("Setting LatAccel from Dynamic Reconfigure: %d", value);
        if (robot->getAbsoluteMaxLatAccel() > 0)
            robot->setLatAccel(value);
    }

    value = config.lat_decel * 1000;
    if (value != robot->getLatDecel() && value > 0)
    {
        ROS_INFO("Setting LatDecel from Dynamic Reconfigure: %d", value);
        if (robot->getAbsoluteMaxLatDecel() > 0)
            robot->setLatDecel(value);
    }

    value = config.rot_accel * 180 / M_PI;
    if (value != robot->getRotAccel() && value > 0)
    {
        ROS_INFO("Setting RotAccel from Dynamic Reconfigure: %d", value);
        robot->setRotAccel(value);
    }

    value = config.rot_decel * 180 / M_PI;
    if (value != robot->getRotDecel() && value > 0)
    {
        ROS_INFO("Setting RotDecel from Dynamic Reconfigure: %d", value);
        robot->setRotDecel(value);
    }
    robot->unlock();
}

/// Called when another node subscribes or unsubscribes from sonar topic.
void RosAriaNode::sonarConnectCb()
{
    publish_sonar = (sonar_pub.getNumSubscribers() > 0);
    publish_sonar_pointcloud2 = (sonar_pointcloud2_pub.getNumSubscribers() > 0);
    robot->lock();
    if (publish_sonar || publish_sonar_pointcloud2)
    {
        robot->enableSonar();
        sonar_enabled = false;
    } else if (!publish_sonar && !publish_sonar_pointcloud2)
    {
        robot->disableSonar();
        sonar_enabled = true;
    }
    robot->unlock();
}

RosAriaNode::RosAriaNode(ros::NodeHandle nh) :
        n(nh),
        serial_port(""), serial_baud(0),
        conn(NULL), laserConnector(NULL), robot(NULL),
        myPublishCB(this, &RosAriaNode::publish),
        sonar_enabled(false), publish_sonar(false), publish_sonar_pointcloud2(false),
        debug_aria(false),
        TicksMM(-1), DriftFactor(-99999), RevCount(-1),
        publish_aria_lasers(false)
{
    // read in runtime parameters

    // port and baud
    n.param("port", serial_port, std::string("/dev/ttyUSB0"));
    ROS_INFO("RosAria: set port: [%s]", serial_port.c_str());

    n.param("baud", serial_baud, 0);
    if (serial_baud != 0)
        ROS_INFO("RosAria: set serial port baud rate %d", serial_baud);

    // handle debugging more elegantly
    n.param("debug_aria", debug_aria, false); // default not to debug
    n.param("aria_log_filename", aria_log_filename, std::string("Aria.log"));

    // whether to connect to lasers using aria
    n.param("publish_aria_lasers", publish_aria_lasers, false);

    // Get frame_ids to use.
    n.param("odom_frame", frame_id_odom, std::string("odom"));
    n.param("base_link_frame", frame_id_base_link, std::string("base_link"));
    n.param("bumpers_frame", frame_id_bumper, std::string("bumpers"));
    n.param("sonar_frame", frame_id_sonar, std::string("sonar"));

    // advertise services for data topics
    // second argument to advertise() is queue size.
    // other argmuments (optional) are callbacks, or a boolean "latch" flag (whether to send current data to new
    // subscribers when they subscribe).
    // See ros::NodeHandle API docs.
    pose_pub = n.advertise<nav_msgs::Odometry>("pose", 1000);
    bumpers_pub = n.advertise<rosaria::BumperState>("bumper_state", 1000);
    sonar_pub = n.advertise<sensor_msgs::PointCloud>("sonar", 50,
                                                     boost::bind(&RosAriaNode::sonarConnectCb, this),
                                                     boost::bind(&RosAriaNode::sonarConnectCb, this));
    sonar_pointcloud2_pub = n.advertise<sensor_msgs::PointCloud2>("sonar_pointcloud2", 50,
                                                                  boost::bind(&RosAriaNode::sonarConnectCb, this),
                                                                  boost::bind(&RosAriaNode::sonarConnectCb, this));

    voltage_pub = n.advertise<std_msgs::Float64>("battery_voltage", 1000);
    recharge_state_pub = n.advertise<std_msgs::Int8>("battery_recharge_state", 5, true /*latch*/ );
    recharge_state.data = -2;
    state_of_charge_pub = n.advertise<std_msgs::Float32>("battery_state_of_charge", 100);

    motors_state_pub = n.advertise<std_msgs::Bool>("motors_state", 5, true /*latch*/ );
    motors_state.data = false;
    published_motors_state = false;

    // advertise enable/disable services
    enable_srv = n.advertiseService("enable_motors", &RosAriaNode::enable_motors_cb, this);
    disable_srv = n.advertiseService("disable_motors", &RosAriaNode::disable_motors_cb, this);

    veltime = ros::Time::now();
}

RosAriaNode::~RosAriaNode()
{
    // disable motors and sonar.
    robot->disableMotors();
    robot->disableSonar();

    robot->stopRunning();
    robot->waitForRunExit();
    Aria::shutdown();
}

int RosAriaNode::Setup()
{
    // Note, various objects are allocated here which are never deleted (freed), since Setup() is only supposed to be
    // called once per instance, and these objects need to persist until the process terminates.

    robot = new ArRobot();
    ArArgumentBuilder *args = new ArArgumentBuilder(); //  never freed
    ArArgumentParser *argparser = new ArArgumentParser(args); // Warning never freed
    argparser->loadDefaultArguments(); // adds any arguments given in /etc/Aria.args.  Useful on robots with unusual serial port or baud rate (e.g. pioneer lx)

    // Now add any parameters given via ros params (see RosAriaNode constructor):

    // if serial port parameter contains a ':' character, then interpret it as hostname:tcpport
    // for wireless serial connection. Otherwise, interpret it as a serial port name.
    size_t colon_pos = serial_port.find(":");
    if (colon_pos != std::string::npos)
    {
        args->add("-remoteHost"); // pass robot's hostname/IP address to Aria
        args->add(serial_port.substr(0, colon_pos).c_str());
        args->add("-remoteRobotTcpPort"); // pass robot's TCP port to Aria
        args->add(serial_port.substr(colon_pos + 1).c_str());
    } else
    {
        args->add("-robotPort %s", serial_port.c_str()); // pass robot's serial port to Aria
    }

    // if a baud rate was specified in baud parameter
    if (serial_baud != 0)
    {
        args->add("-robotBaud %d", serial_baud);
    }

    if (debug_aria)
    {
        // turn on all ARIA debugging
        args->add("-robotLogPacketsReceived"); // log received packets
        args->add("-robotLogPacketsSent"); // log sent packets
        args->add("-robotLogVelocitiesReceived"); // log received velocities
        args->add("-robotLogMovementSent");
        args->add("-robotLogMovementReceived");
        ArLog::init(ArLog::File, ArLog::Verbose, aria_log_filename.c_str(), true);
    }


    // Connect to the robot
    conn = new ArRobotConnector(argparser, robot); // warning never freed
    if (!conn->connectRobot())
    {
        ROS_ERROR(
                "RosAria: ARIA could not connect to robot! (Check ~port parameter is correct, and permissions on port device, or any errors reported above)");
        return 1;
    }

    if (publish_aria_lasers)
        laserConnector = new ArLaserConnector(argparser, robot, conn);

    // causes ARIA to load various robot-specific hardware parameters from the robot parameter file in /usr/local/Aria/params
    if (!Aria::parseArgs())
    {
        ROS_ERROR("RosAria: ARIA error parsing ARIA startup parameters!");
        return 1;
    }

    readParameters();

    // Start dynamic_reconfigure server
    dynamic_reconfigure_server = new dynamic_reconfigure::Server<rosaria::RosAriaConfig>;

    // Setup Parameter Minimums and maximums
    rosaria::RosAriaConfig dynConf_min;
    rosaria::RosAriaConfig dynConf_max;

    dynConf_max.trans_accel = robot->getAbsoluteMaxTransAccel() / 1000;
    dynConf_max.trans_decel = robot->getAbsoluteMaxTransDecel() / 1000;
    // TODO: Fix rqt dynamic_reconfigure gui to handle empty intervals
    // Until then, set unit length interval.
    dynConf_max.lat_accel = ((robot->getAbsoluteMaxLatAccel() > 0.0) ? robot->getAbsoluteMaxLatAccel() : 0.1) / 1000;
    dynConf_max.lat_decel = ((robot->getAbsoluteMaxLatDecel() > 0.0) ? robot->getAbsoluteMaxLatDecel() : 0.1) / 1000;
    dynConf_max.rot_accel = robot->getAbsoluteMaxRotAccel() * M_PI / 180;
    dynConf_max.rot_decel = robot->getAbsoluteMaxRotDecel() * M_PI / 180;

    dynConf_min.trans_accel = 0;
    dynConf_min.trans_decel = 0;
    dynConf_min.lat_accel = 0;
    dynConf_min.lat_decel = 0;
    dynConf_min.rot_accel = 0;
    dynConf_min.rot_decel = 0;

    dynConf_min.TicksMM = 0;
    dynConf_max.TicksMM = 200;
    dynConf_min.DriftFactor = -99999;
    dynConf_max.DriftFactor = 32767;
    dynConf_min.RevCount = 0;
    dynConf_max.RevCount = 65535;

    dynamic_reconfigure_server->setConfigMax(dynConf_max);
    dynamic_reconfigure_server->setConfigMin(dynConf_min);


    rosaria::RosAriaConfig dynConf_default;
    dynConf_default.trans_accel = robot->getTransAccel() / 1000;
    dynConf_default.trans_decel = robot->getTransDecel() / 1000;
    dynConf_default.lat_accel = robot->getLatAccel() / 1000;
    dynConf_default.lat_decel = robot->getLatDecel() / 1000;
    dynConf_default.rot_accel = robot->getRotAccel() * M_PI / 180;
    dynConf_default.rot_decel = robot->getRotDecel() * M_PI / 180;

    dynConf_default.TicksMM = 0;
    dynConf_default.DriftFactor = -99999;
    dynConf_default.RevCount = 0;

    dynamic_reconfigure_server->setConfigDefault(dynConf_default);

    dynamic_reconfigure_server->setCallback(boost::bind(&RosAriaNode::dynamic_reconfigureCB, this, _1, _2));


    // Enable the motors
    robot->enableMotors();

    // disable sonars on startup
    robot->disableSonar();

    // callback will  be called by ArRobot background processing thread for every SIP data packet received from robot
    robot->addSensorInterpTask("ROSPublishingTask", 100, &myPublishCB);

    // Initialize bumpers with robot number of bumpers
    bumpers.front_bumpers.resize(robot->getNumFrontBumpers());
    bumpers.rear_bumpers.resize(robot->getNumRearBumpers());

    // Run ArRobot background processing thread
    robot->runAsync(true);

    // connect to lasers and create publishers
    if (publish_aria_lasers)
    {
        ROS_INFO_NAMED("rosaria", "rosaria: Connecting to laser(s) configured in ARIA parameter file(s)...");
        if (!laserConnector->connectLasers())
        {
            ROS_FATAL_NAMED("rosaria", "rosaria: Error connecting to laser(s)...");
            return 1;
        }

        robot->lock();
        const std::map<int, ArLaser *> *lasers = robot->getLaserMap();
        ROS_INFO_NAMED("rosaria", "rosaria: there are %lu connected lasers", lasers->size());
        for (std::map<int, ArLaser *>::const_iterator i = lasers->begin(); i != lasers->end(); ++i)
        {
            ArLaser *l = i->second;
            int ln = i->first;
            std::string tfname("laser");
            if (lasers->size() > 1 || ln > 1) // no number if only one laser which is also laser 1
                tfname += ln;
            tfname += "_frame";
            ROS_INFO_NAMED("rosaria", "rosaria: Creating publisher for laser #%d named %s with tf frame name %s", ln,
                           l->getName(), tfname.c_str());
            new LaserPublisher(l, n, true, tfname);
        }
        robot->unlock();
        ROS_INFO_NAMED("rosaria", "rosaria: Done creating laser publishers");
    }

    // subscribe to command topics
    cmdvel_sub = n.subscribe("cmd_vel", 1, (boost::function<void(const geometry_msgs::TwistConstPtr &)>)
            boost::bind(&RosAriaNode::cmdvel_cb, this, _1));

    // register a watchdog for cmd_vel timeout
    double cmdvel_timeout_param = 0.6;
    n.param("cmd_vel_timeout", cmdvel_timeout_param, 0.6);
    cmdvel_timeout = ros::Duration(cmdvel_timeout_param);
    if (cmdvel_timeout_param > 0.0)
        cmdvel_watchdog_timer = n.createTimer(ros::Duration(0.1), &RosAriaNode::cmdvel_watchdog, this);

    ROS_INFO_NAMED("rosaria", "rosaria: Setup complete");
    return 0;
}

void RosAriaNode::spin()
{
    ros::spin();
}

void RosAriaNode::publish()
{
    // Note, this is called via SensorInterpTask callback (myPublishCB, named "ROSPublishingTask"). ArRobot object 'robot' sholud not be locked or unlocked.
    pos = robot->getPose();
    tf::poseTFToMsg(tf::Transform(tf::createQuaternionFromYaw(pos.getTh() * M_PI / 180), tf::Vector3(pos.getX() / 1000,
                                                                                                     pos.getY() / 1000,
                                                                                                     0)),
                    position.pose.pose); //Aria returns pose in mm.
    position.twist.twist.linear.x = robot->getVel() / 1000.0; //Aria returns velocity in mm/s.
    position.twist.twist.linear.y = robot->getLatVel() / 1000.0;
    position.twist.twist.angular.z = robot->getRotVel() * M_PI / 180;

    position.header.frame_id = frame_id_odom;
    position.child_frame_id = frame_id_base_link;
    position.header.stamp = ros::Time::now();
    pose_pub.publish(position);

    ROS_DEBUG(
            "RosAria: publish: (time %f) pose x: %f, pose y: %f, pose angle: %f; linear vel x: %f, vel y: %f; angular vel z: %f",
            position.header.stamp.toSec(),
            (double) position.pose.pose.position.x,
            (double) position.pose.pose.position.y,
            (double) position.pose.pose.orientation.w,
            (double) position.twist.twist.linear.x,
            (double) position.twist.twist.linear.y,
            (double) position.twist.twist.angular.z
    );

    // publishing transform odom->base_link
    odom_trans.header.stamp = ros::Time::now();
    odom_trans.header.frame_id = frame_id_odom;
    odom_trans.child_frame_id = frame_id_base_link;

    odom_trans.transform.translation.x = pos.getX() / 1000;
    odom_trans.transform.translation.y = pos.getY() / 1000;
    odom_trans.transform.translation.z = 0.0;
    odom_trans.transform.rotation = tf::createQuaternionMsgFromYaw(pos.getTh() * M_PI / 180);

    odom_broadcaster.sendTransform(odom_trans);

    // getStallValue returns 2 bytes with stall bit and bumper bits, packed as (00 00 FrontBumpers RearBumpers)
    int stall = robot->getStallValue();
    unsigned char front_bumpers = (unsigned char) (stall >> 8);
    unsigned char rear_bumpers = (unsigned char) (stall);

    bumpers.header.frame_id = frame_id_bumper;
    bumpers.header.stamp = ros::Time::now();

    std::stringstream bumper_info(std::stringstream::out);
    // Bit 0 is for stall, next bits are for bumpers (leftmost is LSB)
    for (unsigned int i = 0; i < robot->getNumFrontBumpers(); i++)
    {
        bumpers.front_bumpers[i] = (front_bumpers & (1 << (i + 1))) == 0 ? 0 : 1;
        bumper_info << " " << (front_bumpers & (1 << (i + 1)));
    }
    ROS_DEBUG("RosAria: Front bumpers:%s", bumper_info.str().c_str());

    bumper_info.str("");
    // Rear bumpers have reverse order (rightmost is LSB)
    unsigned int numRearBumpers = robot->getNumRearBumpers();
    for (unsigned int i = 0; i < numRearBumpers; i++)
    {
        bumpers.rear_bumpers[i] = (rear_bumpers & (1 << (numRearBumpers - i))) == 0 ? 0 : 1;
        bumper_info << " " << (rear_bumpers & (1 << (numRearBumpers - i)));
    }
    ROS_DEBUG("RosAria: Rear bumpers:%s", bumper_info.str().c_str());

    bumpers_pub.publish(bumpers);

    //Publish battery information
    // TODO: Decide if BatteryVoltageNow (normalized to (0,12)V)  is a better option
    std_msgs::Float64 batteryVoltage;
    batteryVoltage.data = robot->getRealBatteryVoltageNow();
    voltage_pub.publish(batteryVoltage);

    if (robot->haveStateOfCharge())
    {
        std_msgs::Float32 soc;
        soc.data = robot->getStateOfCharge() / 100.0;
        state_of_charge_pub.publish(soc);
    }

    // publish recharge state if changed
    char s = robot->getChargeState();
    if (s != recharge_state.data)
    {
        ROS_INFO("RosAria: publishing new recharge state %d.", s);
        recharge_state.data = s;
        recharge_state_pub.publish(recharge_state);
    }

    // publish motors state if changed
    bool e = robot->areMotorsEnabled();
    if (e != motors_state.data || !published_motors_state)
    {
        ROS_INFO("RosAria: publishing new motors state %d.", e);
        motors_state.data = e;
        motors_state_pub.publish(motors_state);
        published_motors_state = true;
    }

    // Publish sonar information, if enabled.
    if (publish_sonar || publish_sonar_pointcloud2)
    {
        sensor_msgs::PointCloud cloud;    //sonar readings.
        cloud.header.stamp = position.header.stamp;    //copy time.
        // sonar sensors relative to base_link
        cloud.header.frame_id = frame_id_sonar;


        std::stringstream sonar_debug_info; // Log debugging info
        sonar_debug_info << "Sonar readings: ";

        for (int i = 0; i < robot->getNumSonar(); i++)
        {
            ArSensorReading *reading = NULL;
            reading = robot->getSonarReading(i);
            if (!reading)
            {
                ROS_WARN("RosAria: Did not receive a sonar reading.");
                continue;
            }

            // getRange() will return an integer between 0 and 5000 (5m)
            sonar_debug_info << reading->getRange() << " ";

            // local (x,y). Appears to be from the centre of the robot, since values may
            // exceed 5000. This is good, since it means we only need 1 transform.
            // x & y seem to be swapped though, i.e. if the robot is driving north
            // x is north/south and y is east/west.
            //
            //ArPose sensor = reading->getSensorPosition();  //position of sensor.
            // sonar_debug_info << "(" << reading->getLocalX()
            //                  << ", " << reading->getLocalY()
            //                  << ") from (" << sensor.getX() << ", "
            //                  << sensor.getY() << ") ;; " ;

            //add sonar readings (robot-local coordinate frame) to cloud
            geometry_msgs::Point32 p;
            p.x = reading->getLocalX() / 1000.0;
            p.y = reading->getLocalY() / 1000.0;
            p.z = 0.0;
            cloud.points.push_back(p);
        }
        ROS_DEBUG_STREAM(sonar_debug_info.str());

        // publish topic(s)

        if (publish_sonar_pointcloud2)
        {
            sensor_msgs::PointCloud2 cloud2;
            if (!sensor_msgs::convertPointCloudToPointCloud2(cloud, cloud2))
            {
                ROS_WARN(
                        "Error converting sonar point cloud message to point_cloud2 type before publishing! Not publishing this time.");
            } else
            {
                sonar_pointcloud2_pub.publish(cloud2);
            }
        }

        if (publish_sonar)
        {
            sonar_pub.publish(cloud);
        }
    } // end if sonar_enabled
}

bool RosAriaNode::enable_motors_cb(std_srvs::Empty::Request &request, std_srvs::Empty::Response &response)
{
    ROS_INFO("RosAria: Enable motors request.");
    robot->lock();
    if (robot->isEStopPressed())
        ROS_WARN(
                "RosAria: Warning: Enable motors requested, but robot also has E-Stop button pressed. Motors will not enable.");
    robot->enableMotors();
    robot->unlock();
    // todo could wait and see if motors do become enabled, and send a response with an error flag if not
    return true;
}

bool RosAriaNode::disable_motors_cb(std_srvs::Empty::Request &request, std_srvs::Empty::Response &response)
{
    ROS_INFO("RosAria: Disable motors request.");
    robot->lock();
    robot->disableMotors();
    robot->unlock();
    // todo could wait and see if motors do become disabled, and send a response with an error flag if not
    return true;
}

void
RosAriaNode::cmdvel_cb(const geometry_msgs::TwistConstPtr &msg)
{
    veltime = ros::Time::now();
    ROS_INFO("new speed: [%0.2f,%0.2f](%0.3f)", msg->linear.x * 1e3, msg->angular.z, veltime.toSec());

    robot->lock();
    robot->setVel(msg->linear.x * 1e3);
    if (robot->hasLatVel())
        robot->setLatVel(msg->linear.y * 1e3);
    robot->setRotVel(msg->angular.z * 180 / M_PI);
    robot->unlock();
    ROS_DEBUG("RosAria: sent vels to to aria (time %f): x vel %f mm/s, y vel %f mm/s, ang vel %f deg/s",
              veltime.toSec(),
              (double) msg->linear.x * 1e3, (double) msg->linear.y * 1.3, (double) msg->angular.z * 180 / M_PI);
}

void RosAriaNode::cmdvel_watchdog(const ros::TimerEvent &event)
{
    // stop robot if no cmd_vel message was received for 0.6 seconds
    if (ros::Time::now() - veltime > ros::Duration(0.6))
    {
        robot->lock();
        robot->setVel(0.0);
        if (robot->hasLatVel())
            robot->setLatVel(0.0);
        robot->setRotVel(0.0);
        robot->unlock();
    }
}


int main(int argc, char **argv)
{
    ros::init(argc, argv, "RosAria");
    ros::NodeHandle n(std::string("~"));
    Aria::init();

    RosAriaNode *node = new RosAriaNode(n);

    if (node->Setup() != 0)
    {
        ROS_FATAL("RosAria: ROS node setup failed... \n");
        return -1;
    }

    node->spin();

    delete node;

    ROS_INFO("RosAria: Quitting... \n");
    return 0;

}
